Pneumatic artificial muscle fibers and bionic robotic arms
A pneumatic artificial muscle and bionic machine technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of potential safety hazards, heavy weight of the manipulator, and inability to remove it, and achieves simple structure, low cost, and complete machine. Lightweight effect
Active Publication Date: 2022-05-17
TSINGHUA UNIV
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Problems solved by technology
However, most of the main bodies of existing industrial manipulators are made of metal materials, which will cause the weight of the whole manipulator to be heavy.
Moreover, the existing industrial manipulators are rigidly driven. When a collision occurs accidentally during the work process, the collision force is large and cannot be removed. There are potential safety hazards in human-computer interaction.
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[0027] Embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings.
[0028] Embodiments of the present disclosure are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. The present disclosure can also be implemented or applied through different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, a...
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The invention discloses a pneumatic artificial muscle fiber and a bionic robot arm, wherein the bionic robot arm includes an artificial muscle driving group, an upper arm, a forearm and an elbow joint coating device. The upper arm and the forearm are rotatably connected, and the rotational connection of the upper arm and the forearm forms an elbow joint. The elbow joint covering device covers the elbow joint. One end of the artificial muscle driving group is fixed on the upper arm, and the other end is fixed on the forearm. The forearm rotates or twists around the elbow joint under the drive of the artificial muscle drive group. The artificial muscle driving group includes several pneumatic artificial muscle bundles. The bionic mechanical arm of the present invention is driven by pneumatic artificial muscle bundles and has the function of variable stiffness. When colliding with other objects, due to the flexibility of the pneumatic artificial muscle bundle, part of the collision force will be released during the collision, which improves the safety of human-computer interaction. The pneumatic artificial muscle fibers that make up the pneumatic artificial muscle bundle are made of flexible materials and nylon, reducing the weight of the bionic robotic arm.
Description
technical field [0001] The invention relates to the field of bionic manipulator design, in particular to a pneumatic artificial muscle fiber and a bionic manipulator. Background technique [0002] Production activities in the manufacturing industry are inseparable from robots, and industrial robotic arms are widely used in robots. The industrial robotic arm has high positioning accuracy, large load, and fast speed. It is often used in welding, spraying, assembly, and cargo sorting in assembly line production. However, most of the main bodies of existing industrial manipulators are made of metal materials, which will lead to a heavy weight of the whole manipulator. Moreover, the existing industrial manipulators are rigidly driven. When a collision occurs accidentally during work, the collision force is relatively large and cannot be removed, which poses a safety hazard during human-computer interaction. With the continuous progress of manufacturing, people's demand for robo...
Claims
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IPC IPC(8): B25J9/10B25J9/14
CPCB25J9/1075B25J9/142
Inventor 赵慧婵林中汉刘辛军
Owner TSINGHUA UNIV